Six-degree-of-freedom deep-cavity material taking device

Abstract

The invention discloses a six-degree-of-freedom deep-cavity material taking device which comprises a manipulator, a rotary driving structure, a deflection driving structure, a transverse telescopic structure, a longitudinal moving structure, a lifting structure and a pitching driving structure. The rotary driving structure is connected with the manipulator; the deflection driving structure is connected with the rotation driving structure; the transverse telescopic structure is connected with the deflection driving structure; the longitudinal moving structure is connected with the transverse telescopic structure; the lifting structure is connected with the longitudinal moving structure; and the pitching driving structure is connected with the lifting structure. The six-degree-of-freedom deep-cavity material taking device is simple in structure, six-axis driving of the mechanical arm can be achieved, and then the position and posture of the mechanical arm are flexibly adjusted so as to meet the requirements for material grabbing and carrying in a narrow deep-cavity space.

Description

Technical Field

[0001] The invention belongs to the field of industrial robots and automation equipment, and in particular provides a six-degree-of-freedom deep-cavity material taking device. Background Art

[0002] With the development of manufacturing industry towards intelligence and automation, the structure of some components in mechanical equipment is becoming more and more compact and difficult to disassemble and assemble. Some material-grabbing operations in deep cavities and narrow spaces are dangerous for workers, and some working environments are not accessible. Traditional material-grabbing devices are mostly suitable for grabbing materials in open spaces, and cannot be used for deep cavities and narrow spaces. Therefore, the development of a six-degree-of-freedom material-grabbing device suitable for deep cavities has become an urgent problem to be solved. Summary of the invention

[0003] The purpose of the present invention is to provide a six-degree-of-freedom deep cavity material taking device to solve the problem that traditional material taking devices are not suitable for deep cavity material taking.

[0004] In order to achieve the above-mentioned purpose, the present invention provides a six-degree-of-freedom deep cavity material taking device, including: a manipulator, a rotary drive structure, a deflection drive structure, a transverse telescopic structure, a longitudinal moving structure, a lifting structure and a pitch drive structure; the rotary drive structure is connected to the manipulator, and is used to drive the manipulator to perform rotary motion; the deflection drive structure is connected to the rotary drive structure, and is used to drive the rotary drive structure to perform deflection motion; the transverse telescopic structure is connected to the deflection drive structure, and is used to drive the deflection drive structure to perform transverse motion; the longitudinal moving structure is connected to the transverse telescopic structure, and is used to drive the transverse telescopic structure to perform longitudinal motion; the lifting structure is connected to the longitudinal moving structure, and is used to drive the longitudinal moving structure to rise and fall; the pitch drive structure is connected to the lifting structure, and is used to drive the lifting structure to perform pitch motion.

[0005] Preferably, the manipulator includes a fixed plate, a first motor, a first guide rail, a first slider and an execution terminal, wherein the first guide rail is mounted on the fixed plate and is arranged horizontally, there are two first sliders and both are mounted on the first guide rail, the output end of the first motor is connected to a bidirectional screw, the two threaded segments of the bidirectional screw are connected to the two first sliders one by one, and are used to drive the two first sliders to approach or move away synchronously on the first guide rail, and there are two execution terminals and they are respectively mounted on the two first sliders.

[0006] Further preferably, the manipulator further includes two execution terminal locking members, which are respectively mounted on the two first sliders and are used to correspondingly lock the two execution terminals.

[0007] Further preferably, the lateral telescopic structure includes an outer shell and a telescopic shell slidably installed in the outer shell, the deflection drive structure includes a first electric cylinder, a first rack and a connecting shaft, the connecting shaft vertically penetrates the end portion connecting the telescopic shell and the rotary drive structure, a first gear is provided on the outer periphery of the middle portion of the connecting shaft, the first electric cylinder is fixedly installed in the telescopic shell, the first rack is connected to the output end of the first electric cylinder and is laterally arranged, the first rack is meshed with the first gear, and is used for driving the rotary drive structure to perform deflection movement around the connecting shaft under the drive of the first electric cylinder.

[0008] Further preferably, a second electric cylinder is arranged in the outer shell, and an output end of the second electric cylinder is connected to one end of the telescopic shell for driving the telescopic shell to perform telescopic movement along the length direction of the outer shell.

[0009] Further preferably, the longitudinal moving structure includes a support plate, a second rack and a second motor, wherein the support plate is slidably installed on top of the lifting structure along the longitudinal direction, the second rack is fixedly installed on top of the lifting structure along the longitudinal direction, the second motor is vertically installed on the support plate and a second gear is installed on its output shaft, the second gear is meshed with the second rack, and is used to drive the support plate to move longitudinally via the second rack.

[0010] Further preferably, the lifting structure includes a first scissors beam, a second scissors beam, a top plate, a bottom plate and a third electric cylinder, the first scissors beam and the second scissors beam are cross-hinged and opened and closed by the third electric cylinder, the first scissors beam and the second scissors beam each include a hinged end and a sliding end, the top plate is connected to the top of the first scissors beam and the second scissors beam, the bottom plate is connected to the bottom of the first scissors beam and the second scissors beam, the hinged end of the first scissors beam is hinged to the top plate, the sliding end of the first scissors beam is slidably connected to the bottom plate, the hinged end of the second scissors beam is hinged to the bottom plate, and the sliding end of the second scissors beam is slidably connected to the top plate.

[0011] Further preferably, the pitch drive structure includes a movable bracket and a first lateral drive structure, the movable bracket is installed on the base plate along a lateral sliding direction and is provided with a slideway that cooperates with the sliding end of the first scissors beam, the slideway is provided with a slope, and is used to make the sliding end of the first scissors beam rise or fall under the action of the slideway when driven by the first lateral drive structure.

[0012] Further preferably, the first lateral driving structure includes a fourth motor and a fourth rack, the fourth motor is installed above the base plate through a bracket and a fourth gear is provided on its output shaft, the fourth rack is transversely arranged on the movable bracket and meshes with the fourth gear, and the movable bracket performs transverse movement under the drive of the fourth motor.

[0013] Further preferably, the six-degree-of-freedom deep cavity material picking device also includes a second transverse driving structure installed between the transverse telescopic structure and the longitudinal moving structure, the second transverse driving structure includes a third motor and a third rack, the third motor is fixedly installed on the longitudinal moving structure and a third gear is installed on its output shaft, the third rack is fixedly installed laterally below the transverse telescopic structure, the third gear is meshed with the third rack, and is used to drive the transverse telescopic structure to move laterally on the longitudinal moving structure.

[0014] The six-degree-of-freedom deep-cavity material-grabbing device provided by the present invention can realize six-axis drive of the manipulator through the coordinated work of the deflection drive structure, the rotation drive structure, the lateral telescopic structure, the longitudinal movement structure, the lifting structure and the pitch drive structure, and then flexibly adjust the position and posture of the manipulator to adapt to the material grabbing and handling needs in the narrow space of the deep cavity. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work:

[0016] Figure 1 A schematic diagram of the structure of the six-degree-of-freedom deep cavity material taking device provided by the present invention;

[0017] Figure 2 It is a structural schematic diagram of the robot execution unit;

[0018] Figure 3 It is a position diagram of the manipulator, the rotary drive structure, the deflection drive structure, the lateral telescopic structure, and the longitudinal moving structure;

[0019] Figure 4 It is a schematic diagram of the connection between the deflection drive structure, the rotation drive structure and the manipulator;

[0020] Figure 5 It is an enlarged view of the longitudinal moving structure;

[0021] Figure 6 It is a connection diagram of the lifting structure and the pitch driving structure. DETAILED DESCRIPTION

[0022] The present invention will be further explained below in conjunction with specific implementation schemes, but the present invention is not limited thereto.

[0023] like Figures 1 to 6 As shown, the present invention provides a six-degree-of-freedom deep cavity material taking device, including: a manipulator 1, a rotary drive structure 9, a deflection drive structure 2, a transverse telescopic structure 3, a longitudinal movement structure 4, a lifting structure 5 and a pitch drive structure 6; the rotary drive structure 9 is connected to the manipulator 1, and is used to drive the manipulator 1 to perform rotary motion; the deflection drive structure 2 is connected to the rotary drive structure 9, and is used to drive the rotary drive structure 9 to perform deflection motion; the transverse telescopic structure 3 is connected to the deflection drive structure 2, and is used to drive the deflection drive structure 2 to perform transverse motion; the longitudinal movement structure 4 is connected to the transverse telescopic structure 3, and is used to drive the transverse telescopic structure 3 to perform longitudinal motion; the lifting structure 5 is connected to the longitudinal movement structure 4, and is used to drive the longitudinal movement structure 4 to rise and fall; the pitch drive structure 6 is connected to the lifting structure 5, and is used to drive the lifting structure 5 to perform pitch motion.

[0024] The six-degree-of-freedom deep-cavity material-grabbing device can realize six-axis drive of the manipulator through the coordinated work of the deflection drive structure, the rotation drive structure, the lateral telescopic structure, the longitudinal movement structure, the lifting structure and the pitch drive structure, and then flexibly adjust the position and posture of the manipulator to adapt to the material grabbing and handling needs in the narrow space of the deep cavity.

[0025] As an improvement of the technical solution, Figure 2 As shown, the manipulator 1 includes a fixed plate 101, a first motor 102, a first guide rail 103, a first slider 104 and an execution terminal 105, wherein the first guide rail 103 is installed on the fixed plate 101 and is arranged horizontally, there are two first sliders 104 and both are installed on the first guide rail 103, the output end of the first motor 102 is connected to a bidirectional screw, and the two threaded segments of the bidirectional screw are connected to the two first sliders 104 in a one-to-one correspondence, which is used to drive the two first sliders 104 to synchronously approach or move away from the first guide rail 103, and there are two execution terminals 105 and they are respectively installed on the two first sliders 104, and they are opened and closed under the drive of the first sliders to achieve the grasping of materials, wherein the execution terminal can be designed according to the structure of the material to be taken, which is not limited here, such as Figure 2 As shown, the execution terminal is a "convex" shaped structure, which is particularly suitable for a material structure with two planes on the inner side.

[0026] In order to ensure the stability of the terminal grabbing materials, as an improvement of the technical solution, such as Figure 2As shown, the manipulator 1 further includes two execution terminal locking members 106, which are respectively mounted on the two first sliders 104 and are used to correspondingly lock the two execution terminals 105. Preferably, as shown in FIG. Figure 2 As shown, the execution terminal locking member 106 is preferably an optical axis clamp.

[0027] The rotary drive structure 9 may be a motor and a reducer structure, and the output shaft is connected to the manipulator to drive the manipulator to perform rotary motion.

[0028] As an improvement of the technical solution, Figure 1 As shown, the transverse telescopic structure 3 includes a housing 301 and a telescopic shell 302 slidably mounted in the housing 301. Figure 3 , Figure 4 As shown, the deflection drive structure 2 includes a first electric cylinder 201, a first rack 202 and a connecting shaft 203, the connecting shaft 203 vertically penetrates the end portion connecting the telescopic shell 302 and the rotary drive structure 9, a first gear 2031 is arranged on the periphery of the middle portion of the connecting shaft 203, the first electric cylinder 201 is fixedly installed in the telescopic shell 302, the first rack 202 is connected to the output end of the first electric cylinder 201 and is arranged horizontally, the first rack 202 is meshed with the first gear 2031, and is used to drive the rotary drive structure 9 to perform deflection movement around the connecting shaft 203 under the drive of the first electric cylinder 201, preferably, a guide block cooperating with the first rack is arranged on the telescopic shell to limit the movement direction of the first rack, and further preferably, as Figure 3 As shown, the end of the rotary driving structure 9 is connected to a connecting piece 901 , and the connecting shaft vertically penetrates and connects the telescopic shell 302 and the connecting piece 901 .

[0029] As an improvement of the technical solution, Figure 3 As shown, a second electric cylinder 303 is arranged in the outer shell 301, and the output end of the second electric cylinder 303 is connected to one end of the telescopic shell 302, so as to drive the telescopic shell 302 to perform telescopic movement along the length direction of the outer shell 301. Preferably, transverse sliders are fixed at intervals in the outer shell 301, and a slide rail cooperating with the transverse slider is arranged on the outside of the telescopic shell 302. The cooperation between the transverse slider and the slide rail guides the telescopic movement of the telescopic shell 302.

[0030] As an improvement of the technical solution, Figure 5As shown, the longitudinal moving structure 4 includes a support plate 401, a second rack 402 and a second motor 403, wherein the support plate 401 is slidably installed on the top of the lifting structure 5 in the longitudinal direction, the second rack 402 is fixedly installed on the top of the lifting structure 5 in the longitudinal direction, the second motor 403 is vertically installed on the support plate 401 and a second gear is installed on its output shaft, the second gear is meshed with the second rack 402, and is used to drive the support plate 401 to move longitudinally through the second rack 402. Preferably, a longitudinal slider 405 is provided below the support plate 401, and a longitudinal guide rail 404 is provided above the lifting structure 5, and the cooperation between the longitudinal slider 405 and the longitudinal guide rail 404 guides the sliding of the support plate 401. Further preferably, the longitudinal moving structure 4 is installed on a support frame 8, and the support frame 8 is fixedly installed on the lifting structure 5.

[0031] As an improvement of the technical solution, Figure 6 As shown, the lifting structure 5 includes a first scissor beam 501, a second scissor beam 502, a top plate 503, a bottom plate 504 and a third electric cylinder 505. The first scissor beam 501 and the second scissor beam 502 are cross-hinged and opened and closed by the third electric cylinder 505 to achieve lifting. The first scissor beam 501 and the second scissor beam 502 both include a hinged end and a sliding end. The top plate 503 is connected to the top of the first scissor beam 501 and the second scissor beam 502. The bottom plate 504 is connected to the first scissor beam 501 and the second scissor beam 502. Below the fork beam 502, the hinged end of the first scissors beam 501 is hinged to the top plate 503, the sliding end of the first scissors beam 501 is slidably connected to the bottom plate 504, the hinged end of the second scissors beam 502 is hinged to the bottom plate 504, the sliding end of the second scissors beam 502 is slidably connected to the top plate 503, preferably, a slideway cooperating with the sliding end of the second scissors beam 502 is provided at the bottom of the top plate 503, and a slideway cooperating with the sliding end of the first scissors beam 501 is provided above the bottom plate 504.

[0032] As an improvement of the technical solution, Figure 6 As shown, the pitch drive structure 6 includes a movable bracket 601 and a first lateral drive structure. The movable bracket 601 is installed on the base plate 504 along a lateral sliding manner and is provided with a slideway that cooperates with the sliding end of the first scissors beam 501. The slideway is provided with a slope A, which is used to make the sliding end of the first scissors beam 501 rise or fall under the action of the slideway under the drive of the first lateral drive structure, thereby adjusting the pitch angle of the manipulator.

[0033] As an improvement of the technical solution, Figure 6As shown, the first lateral driving structure includes a fourth motor 6021 and a fourth rack 6022. The fourth motor 6021 is installed above the base plate 504 through a bracket 6023 and a fourth gear is provided on its output shaft. The fourth rack 6022 is transversely arranged on the movable bracket 601 and meshes with the fourth gear. The movable bracket 601 performs lateral movement under the drive of the fourth motor 6021.

[0034] As an improvement of the technical solution, Figure 3 As shown, the six-degree-of-freedom deep cavity material taking device also includes a second transverse driving structure 7 installed between the transverse telescopic structure 3 and the longitudinal moving structure 4, the second transverse driving structure includes a third motor 701 and a third rack 702, the third motor 701 is fixedly installed on the longitudinal moving structure 4 and a third gear is installed on its output shaft, the third rack 702 is fixedly installed laterally below the transverse telescopic structure 3, the third gear is meshed with the third rack 702, and is used to drive the transverse telescopic structure 3 to move laterally on the longitudinal moving structure 4, wherein the guidance of the movement of the transverse telescopic structure 3 is achieved by the cooperation of the guide block 4011 installed on the support plate 401 and the transverse slide rail 304 installed at the bottom of the transverse telescopic moving structure 3.

[0035] The detailed description of the present invention is written in a progressive manner, emphasizing the differences between the various implementations, and similar parts thereof can be referred to each other.

[0036] The embodiments of the present invention are described in detail above with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge scope of ordinary technicians in this field without departing from the purpose of the present invention.

Claims

1. A six-degree-of-freedom deep cavity material taking device, characterized in that: include: A manipulator (1), a rotary drive structure (9), a deflection drive structure (2), a transverse telescopic structure (3), a longitudinal movement structure (4), a lifting structure (5) and a pitch drive structure (6); the rotary drive structure (9) is connected to the manipulator (1) and is used to drive the manipulator (1) to perform rotary motion; the deflection drive structure (2) is connected to the rotary drive structure (9) and is used to drive the rotary drive structure (9) to perform deflection motion; the transverse telescopic structure (3) is connected to the deflection drive structure (2) and is used to drive the deflection drive structure (2) to perform transverse motion; the longitudinal movement structure (4) is connected to the transverse telescopic structure (3) and is used to drive the transverse telescopic structure (3) to perform longitudinal motion; the lifting structure (5) is connected to the longitudinal movement structure (4) and is used to drive the longitudinal movement structure (4) to be lifted and lowered; the pitch drive structure (6) is connected to the lifting structure (5) and is used to drive the lifting structure (5) to perform pitch motion.

2. The six-degree-of-freedom deep cavity material taking device according to claim 1, characterized in that: The manipulator (1) comprises a fixed plate (101), a first motor (102), a first guide rail (103), a first slider (104) and an execution terminal (105), wherein the first guide rail (103) is mounted on the fixed plate (101) and arranged horizontally, there are two first sliders (104) and both are mounted on the first guide rail (103), the output end of the first motor (102) is connected to a bidirectional screw, two threaded sections of the bidirectional screw are connected to the two first sliders (104) in a one-to-one correspondence, and are used to drive the two first sliders (104) to synchronously approach or move away from each other on the first guide rail (103), and there are two execution terminals (105) and are respectively mounted on the two first sliders (104).

3. The six-degree-of-freedom deep cavity material taking device according to claim 2, characterized in that: The manipulator (1) further comprises two execution terminal locking members (106), wherein the two execution terminal locking members (106) are respectively mounted on the two first slide blocks (104) and are used to correspondingly lock the two execution terminals (105).

4. The six-degree-of-freedom deep cavity material taking device according to claim 1, characterized in that: The transverse telescopic structure (3) comprises an outer shell (301) and a telescopic shell (302) slidably mounted in the outer shell (301); the deflection drive structure (2) comprises a first electric cylinder (201), a first rack (202) and a connecting shaft (203); the connecting shaft (203) vertically penetrates the end portion connecting the telescopic shell (302) and the rotary drive structure (9); a first gear (2031) is arranged on the outer periphery of the middle portion of the connecting shaft (203); the first electric cylinder (201) is fixedly mounted in the telescopic shell (302); the first rack (202) is connected to the output end of the first electric cylinder (201) and is arranged transversely; the first rack (202) is meshed with the first gear (2031) and is used for driving the rotary drive structure (9) to perform a deflection movement around the connecting shaft (203) under the drive of the first electric cylinder (201).

5. The six-degree-of-freedom deep cavity material taking device according to claim 4, characterized in that: A second electric cylinder (303) is arranged in the housing (301), and an output end of the second electric cylinder (303) is connected to one end of the telescopic housing (302) for driving the telescopic housing (302) to perform telescopic movement along the length direction of the housing (301).

6. The six-degree-of-freedom deep cavity material taking device according to claim 1, characterized in that: The longitudinal moving structure (4) comprises a support plate (401), a second rack (402) and a second motor (403), wherein the support plate (401) is slidably mounted above the lifting structure (5) in the longitudinal direction, the second rack (402) is fixedly mounted above the lifting structure (5) in the longitudinal direction, the second motor (403) is vertically mounted on the support plate (401) and a second gear is mounted on its output shaft, the second gear is meshed with the second rack (402), and is used to drive the support plate (401) to move longitudinally through the second rack (402).

7. The six-degree-of-freedom deep cavity material taking device according to claim 1, characterized in that: The lifting structure (5) comprises a first scissor beam (501), a second scissor beam (502), a top plate (503), a bottom plate (504) and a third electric cylinder (505); the first scissor beam (501) and the second scissor beam (502) are cross-hinged and opened and closed by the third electric cylinder (505); the first scissor beam (501) and the second scissor beam (502) both comprise a hinged end and a sliding end; the top plate (503) is connected to the first scissor beam (501) and the second scissor beam (502); The bottom plate (504) is connected to the bottom of the first scissors beam (501) and the second scissors beam (502), the hinged end of the first scissors beam (501) is hinged to the top plate (503), the sliding end of the first scissors beam (501) is slidably connected to the bottom plate (504), the hinged end of the second scissors beam (502) is hinged to the bottom plate (504), and the sliding end of the second scissors beam (502) is slidably connected to the top plate (503).

8. The six-degree-of-freedom deep cavity material taking device according to claim 7, characterized in that: The pitch drive structure (6) comprises a movable bracket (601) and a first lateral drive structure. The movable bracket (601) is installed on the base plate (504) in a lateral sliding manner and is provided with a slideway that cooperates with the sliding end of the first scissors beam (501). The slideway is provided with a slope so as to make the sliding end of the first scissors beam (501) rise or fall under the action of the slideway when driven by the first lateral drive structure.

9. The six-degree-of-freedom deep cavity material taking device according to claim 8, characterized in that: The first transverse driving structure comprises a fourth motor (6021) and a fourth rack (6022); the fourth motor (6021) is installed above the base plate (504) via a bracket (6023) and a fourth gear is arranged on its output shaft; the fourth rack (6022) is transversely arranged on the movable bracket (601) and meshes with the fourth gear; the movable bracket (601) moves transversely under the drive of the fourth motor (6021).

10. The six-degree-of-freedom deep cavity material taking device according to claim 1, characterized in that: The invention also comprises a second transverse driving structure (7) installed between the transverse telescopic structure (3) and the longitudinal movable structure (4), wherein the second transverse driving structure (7) comprises a third motor (701) and a third rack (702), wherein the third motor (701) is fixedly installed on the longitudinal movable structure (4) and a third gear is installed on its output shaft, and the third rack (702) is fixedly installed below the transverse telescopic structure (3) in the transverse direction, and the third gear is meshed with the third rack (702) for driving the transverse telescopic structure (3) to move in the transverse direction on the longitudinal movable structure (4).

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